绳索牵引自动水平调节机器人综合控制策略

Synthetic control strategy for a cable-driven auto-leveling robot

针对贵重精密载荷在装卸过程中需要维持其对接面水平及受力均衡的需求,研发基于绳索牵引的自动水平调节机器人系统,提出一种由绳索牵引力均衡分配策略和载荷对接面水平倾角调节策略构成的综合控制方案,以确保在绳索牵引力均衡分配的前提下实现载荷对接面水平调节。受力均衡分配策略通过调整绳索长度来改变绳索牵引力的分布,载荷对接面水平倾角调节由模糊神经控制器实现,该控制器的参数由基于LSE方法和BP算法的混合算法训练得到。实验结果表明,综合控制方案能够实现载荷的水平调节及绳索牵引力均衡分配,且能满足实际应用的精度需求。

Aiming at the level-adjusting and force-balance problems of expensive and precise payloads when loading and unloading, a cable-driven aut-leveling parallel robot was developed. A synthetic strategy, which was composed mainly of force-tuning balance strategy and bottom surface leveling strategy, was pro- posed to realize the leveling adjustment under the premise that balance of the pulling forces was firstly satis- fied. Force-tuning balance strategy was used to change the distribution of pulling forces through altering the length of cables in the adjusting process. Meanwhile, bottom surface leveling strategy was carried out through a neuro-fuzzy controller. The neuro-fuzzy controller＇ s parameters were trained by a proposed hybrid algorithm, which was a combination of the least square estimate （LSE） method and the back-propagation （BP） algorithm. Experimental results demonstrate the steady performance of the robot and the effectiveness of the synthetic strategy, which can meet the precision requirements of practical applications.